In this subclass, the following term is used with the meaning indicated :

"manipulator" covers handling tools, devices, or machines having a gripping or work head capable of bodily movement in space and of change of orientation, such bodily movement and change of orientation being controlled, at will, by means remote from the head.

WARNINGS

The following IPC groups are not in the CPC scheme. The subject matter for these IPC groups is classified in the following CPC groups:

{with different types of end effectors, e.g. gripper and welding gun (B25J 15/0057 and B25J 15/0061 take precedence)} [2013-01]

B25J 15/0071

.

{with needles engaging into objects to be gripped} [2013-01]

B25J 15/0076

.

{with means, e.g. Pelletier elements, for freezing a fluid interface between the gripping head and an object to be gripped} [2013-01]

B25J 15/008

.

{with sticking, gluing or adhesive means} [2013-01]

B25J 15/0085

.

{with means for applying an electrostatic force on the object to be gripped} [2013-01]

B25J 15/009

.

{with pins for accurately positioning the object on the gripping head} [2013-01]

B25J 15/0095

.

{with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations} [2013-01]

B25J 15/02

.

servo-actuated [2013-01]

B25J 15/0206

. .

{comprising articulated grippers} [2013-01]

B25J 15/0213

. . .

{actuated by gears} [2013-01]

B25J 15/022

. . .

{actuated by articulated links} [2013-01]

B25J 15/0226

. . .

{actuated by cams} [2013-01]

B25J 15/0233

. . .

{actuated by chains, cables or ribbons} [2013-01]

B25J 15/024

. . .

{having fingers directly connected to actuator} [2013-01]

B25J 15/0246

. .

{actuated by an electromagnet} [2013-01]

B25J 15/0253

. .

{comprising parallel grippers} [2013-01]

B25J 15/026

. . .

{actuated by gears} [2013-01]

B25J 15/0266

. . .

{actuated by articulated links} [2013-01]

B25J 15/0273

. . . .

{comprising linear guide means} [2013-01]

B25J 15/028

. . .

{actuated by cams} [2013-01]

B25J 15/0286

. . .

{actuated by chains, cables or ribbons} [2013-01]

B25J 15/0293

. . .

{having fingers directly connected to actuator} [2013-01]

B25J 15/04

.

with provision for the remote detachment or exchange of the head or parts thereof [2013-01]

B25J 15/0408

. .

{Connections means} [2013-01]

B25J 15/0416

. . .

{having balls} [2013-01]

B25J 15/0425

. . .

{having cams} [2013-01]

B25J 15/0433

. . .

{having gripping members} [2013-01]

B25J 15/0441

. . .

{having vacuum or magnetic means} [2013-01]

B25J 15/045

. . .

{having screw means} [2013-01]

B25J 15/0458

. . .

{having a frustroconical member} [2013-01]

B25J 15/0466

. .

{with means for checking exchange completion} [2013-01]

B25J 15/0475

. .

{Exchangeable fingers} [2013-01]

B25J 15/0483

. .

{with head identification means} [2013-01]

B25J 15/0491

. .

{comprising end-effector racks} [2013-01]

B25J 15/06

.

with vacuum or magnetic holding means [2013-01]

B25J 15/0608

. .

{with magnetic holding means} [2013-01]

B25J 15/0616

. .

{with vacuum} [2013-01]

B25J 15/0625

. . .

{provided with a valve} [2013-01]

B25J 15/0633

. . . .

{Air-flow-actuated valves} [2013-01]

B25J 15/0641

. . . .

{Object-actuated valves} [2013-01]

B25J 15/065

. . .

{provided with separating means for releasing the gripped object after suction} [2013-01]

B25J 15/0658

. . . .

{Pneumatic type, e.g. air blast or overpressure} [2013-01]

B25J 15/0666

. . . .

{Other types, e.g. pins or springs} [2013-01]

B25J 15/0675

. . .

{of the ejector type} [2013-01]

B25J 15/0683

. . .

{Details of suction cup structure, e.g. grooves or ridges} [2013-01]

B25J 15/0691

. . .

{Suction pad made out of porous material, e.g. sponge or foam} [2013-01]

{having axes crossing at an oblique angle, i.e. other than 90 degrees} [2013-01]

B25J 18/00

Arms [2013-01]

B25J 18/002

.

{comprising beam bending compensation means} [2013-01]

B25J 18/005

.

{having a curved shape} [2013-01]

B25J 18/007

.

{the end effector rotating around a fixed point} [2013-01]

B25J 18/02

.

extensible [2013-01]

B25J 18/025

. .

{telescopic} [2013-01]

B25J 18/04

. .

rotatable [2013-01]

B25J 18/06

.

flexible [2013-01]

B25J 19/00

Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) [2013-01]

Chambers provided with manipulation devices (constructional features of the mounting of the manipulator in the wall B25J 1/08{; glove-boxes for nuclear applications G21F 7/04}) [2017-08]

B25J 21/005

.

{Clean rooms} [2013-01]

B25J 21/02

.

Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls {(glove- boxes for removal of dirt B08B 15/026; glove-boxes shielded against radiation G21F 7/04)}; Gloves therefor [2013-01]